How put some objects (array of objects) to cover other object with its shape and curvature
There are plenty of ways to achieve the same, one of them is using particles, if the mesh of the grip is suitable, in case you don't want to use particles, here's one of the ways using Shrink Wrap modifier, since the object you're positioning is a simple object, this will work, in few words, delete all the faces in the object except for the face(s) that will touch the grip, apply the Array modifier, position the object in an orthagraphic view to the right place, add a Shrink Wrap Modifier, choose the grip as the target object, choose the method of Shrink Wrap that suits your case: Nearest Point, Project ...etc. Apply the Shrink Wrap modifier, in Edit mode Extrude the faces, while still selecting the new faces, use (Individual Origins) as Pivot center for rotation, scale the new faces, and your done. Following are the detailed steps:
1- I'll refer to obj#1 to the grip, obj#2 to the object to be positioned.
2- Select obj#2, Tab to go to Edit mode, select the base (the face that will be touching obj#1, Ctrl + I to invert the selection, and delete the other faces. You'll end up with obj#2 as an array of planes.Tab to go back to object mode.
3- Apply the Array modifier.
4- Place obj#2 properly in an Orthographic view to fit the desired area on obj#1, use Numpad 5 to set the viewport to orthographic view.
5- Still in Object mode, obj#2 still selected, add Shrink Wrap modifier, choose obj#1 as the target using the eye-drop in the modifier interface, or choosing it from the drop down list.
6- Choose the projection method that suits you better in the Shrink Wrap modifier panel.
7- You can still transform obj#2 using G, R or S to fit better it's position on obj#1.
8- When sure that the position is appropriate, apply Shrink Wrap modifier. It's a good idea to copy obj#2 using Shift +  D , move it to another layer using M before you apply the modifier, just as a back up. 
9- Selecting obj#2, Tab to toggle Edit mode, press A once or twice to select all faces, press E to extrude the faces.

10- While still in Edit mode, new faces are selected, Choose Individual Origins as the Pivot Center for Rotation/ Scale, it's a small icon at the bottom of 3D View, Next to shading icon.
11- Press S to scale and drag to scale down the new faces.